CN102310860B - 在牵引拖车的车辆中安全超驰无意识加速保护 - Google Patents

在牵引拖车的车辆中安全超驰无意识加速保护 Download PDF

Info

Publication number
CN102310860B
CN102310860B CN201110181554.2A CN201110181554A CN102310860B CN 102310860 B CN102310860 B CN 102310860B CN 201110181554 A CN201110181554 A CN 201110181554A CN 102310860 B CN102310860 B CN 102310860B
Authority
CN
China
Prior art keywords
trailer
vehicle
module
attached
moment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201110181554.2A
Other languages
English (en)
Chinese (zh)
Other versions
CN102310860A (zh
Inventor
M.J.加蒂
P.A.鲍尔勒
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GM Global Technology Operations LLC
Original Assignee
GM Global Technology Operations LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by GM Global Technology Operations LLC filed Critical GM Global Technology Operations LLC
Publication of CN102310860A publication Critical patent/CN102310860A/zh
Application granted granted Critical
Publication of CN102310860B publication Critical patent/CN102310860B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18118—Hill holding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/087—Interaction between the driver and the control system where the control system corrects or modifies a request from the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/14—Trailers, e.g. full trailers, caravans
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/30—Wheel torque
CN201110181554.2A 2010-07-01 2011-06-30 在牵引拖车的车辆中安全超驰无意识加速保护 Active CN102310860B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US12/828541 2010-07-01
US12/828,541 US8280607B2 (en) 2010-07-01 2010-07-01 Safely overriding unintended acceleration protection in vehicles towing trailers

Publications (2)

Publication Number Publication Date
CN102310860A CN102310860A (zh) 2012-01-11
CN102310860B true CN102310860B (zh) 2014-11-26

Family

ID=45400317

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201110181554.2A Active CN102310860B (zh) 2010-07-01 2011-06-30 在牵引拖车的车辆中安全超驰无意识加速保护

Country Status (3)

Country Link
US (1) US8280607B2 (de)
CN (1) CN102310860B (de)
DE (1) DE102011105634B4 (de)

Families Citing this family (75)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2447672B (en) 2007-03-21 2011-12-14 Ford Global Tech Llc Vehicle manoeuvring aids
US9434414B2 (en) 2011-04-19 2016-09-06 Ford Global Technologies, Llc System and method for determining a hitch angle offset
US9500497B2 (en) 2011-04-19 2016-11-22 Ford Global Technologies, Llc System and method of inputting an intended backing path
US10196088B2 (en) 2011-04-19 2019-02-05 Ford Global Technologies, Llc Target monitoring system and method
US9290202B2 (en) 2011-04-19 2016-03-22 Ford Global Technologies, Llc System and method of calibrating a trailer backup assist system
US9248858B2 (en) 2011-04-19 2016-02-02 Ford Global Technologies Trailer backup assist system
US9374562B2 (en) 2011-04-19 2016-06-21 Ford Global Technologies, Llc System and method for calculating a horizontal camera to target distance
US8909426B2 (en) 2011-04-19 2014-12-09 Ford Global Technologies Trailer path curvature control for trailer backup assist
US9506774B2 (en) 2011-04-19 2016-11-29 Ford Global Technologies, Llc Method of inputting a path for a vehicle and trailer
US9969428B2 (en) 2011-04-19 2018-05-15 Ford Global Technologies, Llc Trailer backup assist system with waypoint selection
US9513103B2 (en) 2011-04-19 2016-12-06 Ford Global Technologies, Llc Hitch angle sensor assembly
US9499200B2 (en) 2011-04-19 2016-11-22 Ford Global Technologies, Llc Trailer backup assist system with object detection
US9555832B2 (en) 2011-04-19 2017-01-31 Ford Global Technologies, Llc Display system utilizing vehicle and trailer dynamics
US9683848B2 (en) 2011-04-19 2017-06-20 Ford Global Technologies, Llc System for determining hitch angle
US9937953B2 (en) 2011-04-19 2018-04-10 Ford Global Technologies, Llc Trailer backup offset determination
US9854209B2 (en) 2011-04-19 2017-12-26 Ford Global Technologies, Llc Display system utilizing vehicle and trailer dynamics
US9238483B2 (en) 2011-04-19 2016-01-19 Ford Global Technologies, Llc Trailer backup assist system with trajectory planner for multiple waypoints
US9783230B2 (en) 2011-04-19 2017-10-10 Ford Global Technologies, Llc Trailer backup assist system with off-shoot correction
US9290204B2 (en) 2011-04-19 2016-03-22 Ford Global Technologies, Llc Hitch angle monitoring system and method
US9926008B2 (en) 2011-04-19 2018-03-27 Ford Global Technologies, Llc Trailer backup assist system with waypoint selection
US9493187B2 (en) 2011-04-19 2016-11-15 Ford Global Technologies, Llc Control for trailer backup assist system
US9708000B2 (en) 2011-04-19 2017-07-18 Ford Global Technologies, Llc Trajectory planner for a trailer backup assist system
US9592851B2 (en) 2013-02-04 2017-03-14 Ford Global Technologies, Llc Control modes for a trailer backup assist system
US9511799B2 (en) 2013-02-04 2016-12-06 Ford Global Technologies, Llc Object avoidance for a trailer backup assist system
US20150112526A1 (en) * 2013-10-22 2015-04-23 Ford Global Technologies, Llc Vehicle system and method for at-home route planning
US9352777B2 (en) 2013-10-31 2016-05-31 Ford Global Technologies, Llc Methods and systems for configuring of a trailer maneuvering system
US9233710B2 (en) 2014-03-06 2016-01-12 Ford Global Technologies, Llc Trailer backup assist system using gesture commands and method
US9623904B2 (en) 2014-06-03 2017-04-18 Ford Global Technologies, Llc Trailer curvature control with adaptive trailer length estimation
US9963004B2 (en) 2014-07-28 2018-05-08 Ford Global Technologies, Llc Trailer sway warning system and method
US9517668B2 (en) 2014-07-28 2016-12-13 Ford Global Technologies, Llc Hitch angle warning system and method
US9540043B2 (en) 2014-07-30 2017-01-10 Ford Global Technologies, Llc Trailer backup assist system with active trailer braking for curvature control
US9533683B2 (en) 2014-12-05 2017-01-03 Ford Global Technologies, Llc Sensor failure mitigation system and mode management
US9522677B2 (en) 2014-12-05 2016-12-20 Ford Global Technologies, Llc Mitigation of input device failure and mode management
US9607242B2 (en) 2015-01-16 2017-03-28 Ford Global Technologies, Llc Target monitoring system with lens cleaning device
US9522699B2 (en) 2015-02-05 2016-12-20 Ford Global Technologies, Llc Trailer backup assist system with adaptive steering angle limits
US10286950B2 (en) 2015-02-10 2019-05-14 Ford Global Technologies, Llc Speed optimized trajectory control for motor vehicles
US9616923B2 (en) * 2015-03-03 2017-04-11 Ford Global Technologies, Llc Topographical integration for trailer backup assist system
US9804022B2 (en) 2015-03-24 2017-10-31 Ford Global Technologies, Llc System and method for hitch angle detection
US9623859B2 (en) 2015-04-03 2017-04-18 Ford Global Technologies, Llc Trailer curvature control and mode management with powertrain and brake support
US9744972B2 (en) 2015-04-09 2017-08-29 Ford Global Technologies, Llc Trailer backup aid speed limiting via braking
US9840240B2 (en) 2015-04-09 2017-12-12 Ford Global Technologies, Llc Trailer backup aid speed limiting via braking
US9676377B2 (en) 2015-06-17 2017-06-13 Ford Global Technologies, Llc Speed limiting comfort enhancement
US9896126B2 (en) 2015-07-08 2018-02-20 Ford Global Technologies, Llc Jackknife detection for vehicle reversing a trailer
US9896130B2 (en) 2015-09-11 2018-02-20 Ford Global Technologies, Llc Guidance system for a vehicle reversing a trailer along an intended backing path
US9981662B2 (en) 2015-10-15 2018-05-29 Ford Global Technologies, Llc Speed limiting comfort enhancement
US10384607B2 (en) 2015-10-19 2019-08-20 Ford Global Technologies, Llc Trailer backup assist system with hitch angle offset estimation
US10611407B2 (en) 2015-10-19 2020-04-07 Ford Global Technologies, Llc Speed control for motor vehicles
US9836060B2 (en) 2015-10-28 2017-12-05 Ford Global Technologies, Llc Trailer backup assist system with target management
US10017115B2 (en) 2015-11-11 2018-07-10 Ford Global Technologies, Llc Trailer monitoring system and method
US10011228B2 (en) 2015-12-17 2018-07-03 Ford Global Technologies, Llc Hitch angle detection for trailer backup assist system using multiple imaging devices
US9610975B1 (en) 2015-12-17 2017-04-04 Ford Global Technologies, Llc Hitch angle detection for trailer backup assist system
US9827818B2 (en) 2015-12-17 2017-11-28 Ford Global Technologies, Llc Multi-stage solution for trailer hitch angle initialization
US9796228B2 (en) 2015-12-17 2017-10-24 Ford Global Technologies, Llc Hitch angle detection for trailer backup assist system
US9798953B2 (en) 2015-12-17 2017-10-24 Ford Global Technologies, Llc Template matching solution for locating trailer hitch point
US10155478B2 (en) 2015-12-17 2018-12-18 Ford Global Technologies, Llc Centerline method for trailer hitch angle detection
US9934572B2 (en) 2015-12-17 2018-04-03 Ford Global Technologies, Llc Drawbar scan solution for locating trailer hitch point
US10005492B2 (en) 2016-02-18 2018-06-26 Ford Global Technologies, Llc Trailer length and hitch angle bias estimation
US10053094B2 (en) * 2016-04-11 2018-08-21 Ford Global Technologies, Llc Analytic design of pedal override for adjustable speed limiting
US10112646B2 (en) 2016-05-05 2018-10-30 Ford Global Technologies, Llc Turn recovery human machine interface for trailer backup assist
US10106193B2 (en) 2016-07-01 2018-10-23 Ford Global Technologies, Llc Enhanced yaw rate trailer angle detection initialization
US10046800B2 (en) 2016-08-10 2018-08-14 Ford Global Technologies, Llc Trailer wheel targetless trailer angle detection
US10222804B2 (en) 2016-10-21 2019-03-05 Ford Global Technologies, Llc Inertial reference for TBA speed limiting
US10773721B2 (en) 2016-10-21 2020-09-15 Ford Global Technologies, Llc Control method using trailer yaw rate measurements for trailer backup assist
US11161510B2 (en) * 2017-03-06 2021-11-02 Ford Global Technologies, Llc Methods and system for operating a hybrid vehicle
US10604184B2 (en) 2017-08-31 2020-03-31 Ford Global Technologies, Llc Adaptive steering control for robustness to errors in estimated or user-supplied trailer parameters
US10710585B2 (en) 2017-09-01 2020-07-14 Ford Global Technologies, Llc Trailer backup assist system with predictive hitch angle functionality
US10730553B2 (en) 2017-09-27 2020-08-04 Ford Global Technologies, Llc Adaptive steering control for robustness to errors in estimated or user-supplied trailer parameters
US20190322317A1 (en) * 2018-04-18 2019-10-24 GM Global Technology Operations LLC System and method for automatically determining dimensions of a trailer
KR20200031808A (ko) * 2018-09-17 2020-03-25 현대자동차주식회사 차량의 급발진 방지 제어 시스템 및 방법
US11077795B2 (en) 2018-11-26 2021-08-03 Ford Global Technologies, Llc Trailer angle detection using end-to-end learning
US10814912B2 (en) 2018-11-28 2020-10-27 Ford Global Technologies, Llc Trailer backup assist system having advanced user mode with selectable hitch angle limits
US10829046B2 (en) 2019-03-06 2020-11-10 Ford Global Technologies, Llc Trailer angle detection using end-to-end learning
JP6806201B1 (ja) * 2019-08-09 2021-01-06 トヨタ自動車株式会社 車両制御装置及び車両制御方法
CN112693313A (zh) * 2021-02-04 2021-04-23 江铃汽车股份有限公司 一种双离合自动变速箱紧急拖车控制方法
CN113415176B (zh) * 2021-07-19 2022-03-08 上海洛轲智能科技有限公司 一种车辆控制方法、装置、车辆及存储介质

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4472777A (en) * 1981-12-23 1984-09-18 Ford Motor Company Engine control apparatus for vehicle speed
US5780782A (en) * 1995-02-15 1998-07-14 Hi-Tech Transport Electronics, Inc. On-board scale with remote sensor processing
US6419037B1 (en) * 2000-07-19 2002-07-16 Meritor Heavy Vehicle Systems, Llc Multi-unit articulated road train propulsion system
US7226389B2 (en) * 2002-12-30 2007-06-05 Volvo Lastvagnar Ab Method and device for hill start
US7447585B2 (en) * 2006-05-03 2008-11-04 Tandy Engineering & Associates, Inc. Stability enhancing system for tow-vehicle towing trailer-assembly with trailer sensors

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4221871B2 (ja) * 2000-03-14 2009-02-12 いすゞ自動車株式会社 車両の変速装置
DE10344705B4 (de) * 2003-09-26 2014-04-24 Daimler Ag Verfahren und Vorrichtung zur Verhinderung unbeabsichtigter Beschleunigungen eines Fahrzeugs
US7070247B2 (en) * 2004-03-18 2006-07-04 Ford Global Technologies, Llc Method and apparatus for controlling brake-steer in an automotive vehicle in a forward and reverse direction
DE102005001550A1 (de) 2005-01-13 2006-07-27 Zf Friedrichshafen Ag Verfahren zur Anfahrsteuerung eines Kraftfahrzeugs
US8942911B2 (en) 2010-04-21 2015-01-27 GM Global Technology Operations LLC System and method for detecting a stuck vehicle accelerator and remedial control

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4472777A (en) * 1981-12-23 1984-09-18 Ford Motor Company Engine control apparatus for vehicle speed
US5780782A (en) * 1995-02-15 1998-07-14 Hi-Tech Transport Electronics, Inc. On-board scale with remote sensor processing
US6419037B1 (en) * 2000-07-19 2002-07-16 Meritor Heavy Vehicle Systems, Llc Multi-unit articulated road train propulsion system
US7226389B2 (en) * 2002-12-30 2007-06-05 Volvo Lastvagnar Ab Method and device for hill start
US7447585B2 (en) * 2006-05-03 2008-11-04 Tandy Engineering & Associates, Inc. Stability enhancing system for tow-vehicle towing trailer-assembly with trailer sensors

Also Published As

Publication number Publication date
US8280607B2 (en) 2012-10-02
CN102310860A (zh) 2012-01-11
DE102011105634A1 (de) 2012-04-12
DE102011105634B4 (de) 2019-03-21
US20120004820A1 (en) 2012-01-05

Similar Documents

Publication Publication Date Title
CN102310860B (zh) 在牵引拖车的车辆中安全超驰无意识加速保护
JP6091607B2 (ja) パワートレインの制御システムおよび制御方法
CN107264285B (zh) 驱动电机检测方法及装置
CN105730436A (zh) 拖曳时的自适应巡航控制
CN104417525A (zh) 用于在车轮打滑事件期间控制混合动力车辆的系统和方法
US8989984B2 (en) Method to shut off adaptive cruise control when the uphill gradient is too steep
US9037341B2 (en) Traction control enable/disable feature
CN105392680B (zh) 用于控制车辆制动系统的方法、系统和设备
CN103072569A (zh) 控制机动车运转的系统和方法
CN105818685B (zh) 一种油门当刹车识别保护的方法、装置及控制器和汽车
CN108327632B (zh) 用于车辆制动系统的再生和摩擦功率指示器
CN102959211B (zh) 车辆控制装置
CN102756669A (zh) 多工控制系统及具有多工控制系统的运输装置及控制方法
CN108025710B (zh) 再生制动控制装置
US20180050683A1 (en) Method of controlling engine driving force during operation of traction control system of hybrid vehicle
KR102107003B1 (ko) 전기 차량 또는 하이브리드 차량에서의 회생 제동 제어
US11027613B2 (en) Regenerative braking control system and method
CN103168218A (zh) 用于在转鼓试验台中固定车辆的方法
CN112622618A (zh) 电动车限速装置、方法、电动车及计算机可读存储介质
CN108973984B (zh) 牵引力和稳定性控制系统
US9878621B2 (en) System and method for improved ABS performance during parallel regenerative braking
CN106945599A (zh) 一种车辆刹车警示系统、方法及车辆
WO2023029711A1 (zh) 高速工况的底盘域控制方法及相关装置
KR100535417B1 (ko) 4륜 구동 하이브리드 전기 차량의 크립 토크 제어방법
US11845434B2 (en) Regenerative braking control method of vehicle

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant